10 results about "Stretch exercise" patented technology

The invention relates to a deformable multi-legged robot, in particular to a deformable multi-legged robot for complex terrains, and belongs to the field of robotics, mechanical structures and bionic structures. In order to solve the problems that an existing ball leg composite motion robot is limited in autonomous obstacle avoidance capacity, unstable in mode switching posture, insufficient in motion collaboration and free of a response mechanism for ball leg damage, the robot comprises a robot body and six deformation walking mechanisms. The deformation walking mechanism comprises a hip joint structure, a double-leg connecting structure and two walking motion structures; the deformation walking mechanisms are evenly distributed on the robot body in the circumferential direction, the connecting ends of the six hip joint structures are evenly distributed and installed on the robot body in the circumferential direction, the robot body drives the six hip joint structures to rotate around the robot body in the axial direction, each hip joint structure is provided with one double-leg connecting structure, and the hip joint structures drive the double-leg connecting structures to rotate. The two walking motion structures are installed on the two-leg connecting structure, and each walking motion structure achieves inward or outward stretching motion.

The application discloses a lower limb power exoskeleton device for rehabilitation assistance, which comprises an ankle joint sagittal plane driving unit, a knee joint sagittal plane driving unit, a hip joint sagittal plane driving unit, a hip joint horizontal plane driving unit, a joint driver connecting frame, a lower limb fixing support, a sensor, a controller and a power supply; the hip joint sagittal plane adopts an antagonistic driving linear driving unit to realize the bending and stretching movement of the hip joint; the hip joint horizontal plane adopts a linear driving unit with a power-off self-locking function to realize the turning movement of the exoskeleton; and the knee joint sagittal plane adopts a linear driving unit matched with a magneto-rheological brake, so that the power consumption of the knee joint driver is obviously reduced and the control difficulty is simplified. The power exoskeleton device can help the lower limb movement function impaired patients to realize walking rehabilitation training.

1. The name of the design product: cylinder (vertical fork foam). 2. The use of the design product: placed on the handlebar bracket to make the dancer perform vertical fork stretching exercise, massage and relax muscles, etc. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: combined state reference drawing.

The invention discloses a hand nursing exercise device for orthopedics and traumatology, and relates to the technical field of medical instruments, the hand nursing exercise device comprises a supporting seat, a mounting frame is fixedly connected to the top of the supporting seat, four adjusting seats are fixedly connected to the upper end of the inner wall of the mounting frame, and threaded rods are rotatably connected to the interiors of the four adjusting seats; the outer surface of the threaded rod is in threaded connection with a moving seat, and a first rotating connecting seat, a telescopic rod, a training spring, a second rotating connecting seat, a rotating shaft, a connecting plate, a rotating seat and a finger sleeve are used in cooperation, so that a patient actively conducts finger bending and stretching movement; a control button can be pressed through fingers, positive-angle overturning is conducted through a double-shaft motor, a shaft rod, a driving rotating wheel, a driven rotating wheel, a transmission shaft and a palm supporting plate, the palm of a patient is dragged to conduct wrist joint stretching training, cooperative training of the fingers and the wrist of the patient is achieved, recovery of the hand function of the patient is promoted, and the exercise effect of the hand of the patient is improved.

This invention relates to medical rehabilitation training and assistive devices, specifically a multi-degree-of-freedom thumb-assisted soft rehabilitation exoskeleton robot. It includes a soft exoskeleton glove, tendon tension lines, flexible links, a drive device, and a control system. One end of the tendon tension line is connected to a linear actuator, and the other end is connected to the soft exoskeleton glove to drive the thumb's two degrees of freedom: abduction / adduction and flexion / extension. One end of the flexible link is hinged to the thumb sleeve, and the other end is hinged to a structural component on the back of the hand. It moves along a sliding groove through the contraction of the tendon tension line, thereby driving the thumb's adduction and abduction movements. Another tendon tension line connects to the dorsal side of the thumb to drive its extension movement, and the other tension line connects to the palmar side of the thumb to drive its flexion movement. This invention can effectively assist stroke patients in thumb movement to complete required training tasks. It is small in size, lightweight, and highly wearable, making it convenient for patients with hand dysfunction to use in daily life.

The utility model discloses a rehabilitation exercise stretcher which comprises a fixing column, a plurality of sets of sliding rails are evenly and fixedly arranged on the outer side of the fixing column, a plurality of sets of positioning holes are evenly formed in the outer walls of the sliding rails from top to bottom in a penetrating mode, the outer sides of the sliding rails are sleeved with sliding sleeves in a sliding mode, and positioning pins clamped in the positioning holes are transversely arranged on the outer sides of the sliding sleeves in a penetrating mode. A mounting frame is fixedly connected to the outer side of the sliding sleeve, multiple sets of storage grooves are evenly formed in the upper end of the mounting frame, training springs are connected into the multiple sets of storage grooves, a movable plate connected with the training springs is movably arranged on the outer side of the mounting frame, and a handle is fixedly connected to the outer side of the movable plate. Different numbers of training springs can be selected for stretching exercise according to the recovery condition of a patient, the height of the stretcher can be adjusted, the rehabilitation exercise of the patient is facilitated, the rehabilitation exercise effect of the patient is improved in a disguised mode, and the training use of multiple patients can be met at a time.

The invention belongs to the technical field of wearable robots and exoskeleton auxiliary equipment, and discloses a passive knee joint power-assisted exoskeleton device based on plantar triggering, which realizes mechanical storage and release of energy in a walking period through cooperative work of spring driving parts such as a plantar triggering pedal, a Bowden cable and a ratchet wheel. When the sole touches the ground and does buckling motion, the pedal is pressed downwards to drive the driving part to be locked through the Bowden cable, and the spring is stretched to store energy; during stretching, the extension spring contracts to release stored energy to provide assistance for the knee joint. The ratchet mechanism achieves one-way energy transmission, and it is guaranteed that the system achieves gait phase self-adaptive energy management under the condition that electric driving is not needed. The device is light in structure, quick in response and high in reliability, can effectively reduce the energy consumption of a human body while ensuring the walking comfort, and is suitable for the fields of lower limb passive exoskeleton and rehabilitation assistance.

The utility model provides a kind of orthopedics postoperative rehabilitation recovery nursing device, it is related to medical technical field. Including support seat, the inside slide of support seat is equipped with movable plate, the upper movable plate is equipped with backrest plate. This orthopedics postoperative rehabilitation recovery nursing device, through the magic tape of leg pulling mechanism setting is bound in the upper of patient leg, cooperation arm exercise mechanism setting is pulled by patient with hand pull rope, the movement of receiving plate is pulled by pull rope, stretch exercise is carried out to patient leg, it is convenient for patient to postoperative recovery nursing to leg, it is favorable to the exercise of leg muscle and the circulation of blood flow, the position of movable plate is adjusted by the fixed frame driven by second electric telescopic link, it is convenient for the position of adjustment relied on for patient of different height, it is convenient for binding leg in the upper of receiving plate, it is convenient for postoperative rehabilitation recovery nursing of patient, improve the comfort and recovery effect in treatment process.

The present application belongs to the field of robot control, and particularly discloses a precise pose control method and system of a flexible wrist joint. The flexible wrist joint comprises a moving platform and a static platform, and the moving platform and the static platform are connected through two pairs of diagonally arranged flexible cables. Each pair of diagonally arranged flexible cables is controlled by a motor. When the pose is controlled, the real-time relative pose of the moving platform relative to the static platform is determined during the movement to the target pose; the correction target pose is determined according to the error between the target pose and the real-time relative pose; then the stretching and contracting amounts of the flexible cables in two characteristic movement directions are calculated according to the kinematic model of the flexible wrist joint; the two characteristic movements are ulnar deviation / radial deviation movement and flexion / extension movement; the motor stroke amount is determined according to the stretching and contracting amounts of the flexible cables, so as to realize the real-time control of the pose of the flexible wrist joint. The present application realizes the decomposition of the wrist joint movement space, and eliminates the uncertain pose error introduced by the elastic element through the basic kinematic model and the pose feedback.

The application belongs to the technical field of exoskeleton robots, and relates to a lower limb exoskeleton small leg structure and an exoskeleton robot. The lower limb exoskeleton small leg structure comprises a flexion / extension joint motor, which is installed on the upper part of a small leg structure member; the lower part of the small leg structure member is rotationally connected to an ankle connecting member; the output end of the flexion / extension joint motor is connected to a motor output member; the motor output member is hinged to the upper end of a connecting rod; the lower end of the connecting rod is hinged to the front end of the ankle connecting member; and the rear end of the ankle connecting member is installed with a adduction / eversion joint motor. The flexion / extension joint motor transmits power to the ankle connecting member through the output member and the connecting rod, so as to realize the flexion / extension movement of the foot. The lower limb exoskeleton small leg structure can realize the flexion / extension and adduction / eversion movement of the ankle under the driving of the motor, can maximally fit the natural movement of the human small leg, and can improve the flexibility and adaptability of the exoskeleton small leg.